[add] 並列処理のデモを追加 #94
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[add] 並列処理のデモを追加 #94
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位置が悪いとトルクリミットオーバーになるので修正
industrial_robot_client::utils を使いたかったが、 コンパイルエラーが直らなかったので、同様の関数を自作した。
pythonのlistはmutableなので、copy.deepcopy()などを使用しないと変数がおか しくなる． http://qiita.com/utgwkk/items/5ad2527f19150ae33322 現状はcartesian_pathにエラーが残っている．下記リンクに似たようなissueを 発見． moveit/moveit#27
Action Serverは自分で用意しているので削除
- 収束条件の値を5e-4に変更 - 現在値を取ってくるタイミングを修正 - 配列が殻だった時にtrueを返さないように修正
waypointの構成が 1. 把持対象の位置 2. 把持対象+offsetの位置 というミスを犯していたので修正
current position errorのために，joint_stateより現在位置をとっていたが， それが原因でcurrent position errorが起きていた． よってこれを修正
所定の時間でplanningがうまく行かない場合には， 5秒ずつplanning時間を伸ばすように変更した．
2回やってダメなら失敗ということにして次に向かうことにした．
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issue #95 にもあるが、初回起動時たまに
というエラーがでる．
原因はまだわかっていない...